//
// Created by ze on 2023/11/9.
//

#ifndef ENCODER_UPRE_PID_H
#define ENCODER_UPRE_PID_H

#include "UPRE_GLOBAL_DEFINE.h"



ChassisMovement getPidOutput(void);
void setPidTargetPose(Pose* targetPose, PidCalMode calMode);
void setPidCalMode(PidCalMode mode);
void pidInit(void);
//void ctrlEntry(void);
extern Pose Print_Target_Pose;
//ChassisMovement getPidOutput(void);

#endif //ENCODER_UPRE_PID_H
